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<div class="title">cudaPointCloud.h</div>  </div>
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<a href="cudaPointCloud_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Copyright (c) 2019, NVIDIA CORPORATION. All rights reserved.</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * Permission is hereby granted, free of charge, to any person obtaining a</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"><a class="line" href="cudaPointCloud_8h.html#a6733e7b0005b2f20e433bb1269259c30">    5</a></span>&#160;<span class="comment"> * copy of this software and associated documentation files (the &quot;Software&quot;),</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> * to deal in the Software without restriction, including without limitation</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> * the rights to use, copy, modify, merge, publish, distribute, sublicense,</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> * and/or sell copies of the Software, and to permit persons to whom the</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> * Software is furnished to do so, subject to the following conditions:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="cudaPointCloud_8h.html#a549d5369c70bd71a70798aa5b1ea4270">   11</a></span>&#160;<span class="comment"> * The above copyright notice and this permission notice shall be included in</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> * all copies or substantial portions of the Software.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
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<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="cudaPointCloud_8h.html#ad9bd89745d72dbc52651f62814eed36d">   17</a></span>&#160;<span class="comment"> * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING</span></div>
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<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#ifndef __CUDA_POINT_CLOUD_H__</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#define __CUDA_POINT_CLOUD_H__</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; </div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="cudaUtility_8h.html">cudaUtility.h</a>&quot;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; </div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160; </div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment">// forward declarations</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="keyword">class </span><a class="code" href="group__OpenGL.html#classglBuffer">glBuffer</a>;</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keyword">class </span><a class="code" href="group__OpenGL.html#classglCamera">glCamera</a>;</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160; </div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="group__pointCloud.html">   39</a></span>&#160;<span class="keyword">class </span><a class="code" href="group__pointCloud.html#classcudaPointCloud">cudaPointCloud</a></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;{</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="structcudaPointCloud_1_1Vertex.html">   45</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structcudaPointCloud_1_1Vertex.html">Vertex</a></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        {</div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="structcudaPointCloud_1_1Vertex.html#aeefd8bd73d94b0b27dd071306ba367de">   50</a></span>&#160;                float3 <a class="code" href="structcudaPointCloud_1_1Vertex.html#aeefd8bd73d94b0b27dd071306ba367de">pos</a>;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="structcudaPointCloud_1_1Vertex.html#a9e6e1a12c0d2947927183297f4138c81">   56</a></span>&#160;                uchar3 <a class="code" href="structcudaPointCloud_1_1Vertex.html#a9e6e1a12c0d2947927183297f4138c81">color</a>;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="structcudaPointCloud_1_1Vertex.html#a58e8de6d6aba73bcd40d0f9fc193ff76">   62</a></span>&#160;                uint8_t <a class="code" href="structcudaPointCloud_1_1Vertex.html#a58e8de6d6aba73bcd40d0f9fc193ff76">classID</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        } <a class="code" href="group__pointCloud.html#ab718e09e5eb03fd1d5432e42c689b814">__attribute__</a>((packed));</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <span class="keyword">static</span> <a class="code" href="group__pointCloud.html#classcudaPointCloud">cudaPointCloud</a>* <a class="code" href="group__pointCloud.html#af3b4c2fd0b50bf12ad001fa39b5f4632">Create</a>();</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        <a class="code" href="group__pointCloud.html#a512877c3645cb6eb705c4785e7d66911">~cudaPointCloud</a>();</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="group__pointCloud.html#a9f5e49c1601898cd67749b1a46d9594b">Reserve</a>( uint32_t maxPoints );</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="group__pointCloud.html#af3e91a3b536a34b1b510136d04f9d782">Free</a>();</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="group__pointCloud.html#a779a39e8cacd830e10e33aa9d0d7a1a2">Clear</a>();</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="group__pointCloud.html#a66eea4468c09e816ee78b378382ab8fd">Extract</a>( <span class="keywordtype">float</span>* depth, float4* rgba, uint32_t width, uint32_t height );</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="group__pointCloud.html#a66eea4468c09e816ee78b378382ab8fd">Extract</a>( <span class="keywordtype">float</span>* depth, uint32_t depth_width, uint32_t depth_height,</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;                            float4* rgba, uint32_t color_width, uint32_t color_height );</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="group__pointCloud.html#abeefc53319ad08f9da52a9c5a7cb324a">  109</a></span>&#160;        <span class="keyword">inline</span> uint32_t <a class="code" href="group__pointCloud.html#abeefc53319ad08f9da52a9c5a7cb324a">GetNumPoints</a>()<span class="keyword"> const            </span>{ <span class="keywordflow">return</span> <a class="code" href="group__pointCloud.html#a47e4be38c0f1303d14a7a7a21ff10afd">mNumPoints</a>; }</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="group__pointCloud.html#a21bc4243e26313ce9db0007ddd217407">  114</a></span>&#160;        <span class="keyword">inline</span> uint32_t <a class="code" href="group__pointCloud.html#a21bc4243e26313ce9db0007ddd217407">GetMaxPoints</a>()<span class="keyword"> const            </span>{ <span class="keywordflow">return</span> <a class="code" href="group__pointCloud.html#adaf6ec86192f57d18b757fad3581d20e">mMaxPoints</a>; }</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="group__pointCloud.html#af10d3cc8025aeb86f4334f4e9008a5ae">  119</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">size_t</span> <a class="code" href="group__pointCloud.html#af10d3cc8025aeb86f4334f4e9008a5ae">GetSize</a>()<span class="keyword"> const                           </span>{ <span class="keywordflow">return</span> <a class="code" href="group__pointCloud.html#a47e4be38c0f1303d14a7a7a21ff10afd">mNumPoints</a> * <span class="keyword">sizeof</span>(<a class="code" href="structcudaPointCloud_1_1Vertex.html">Vertex</a>); }</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="group__pointCloud.html#a4f6bad10283464e4d9994f6c5e981731">  124</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">size_t</span> <a class="code" href="group__pointCloud.html#a4f6bad10283464e4d9994f6c5e981731">GetMaxSize</a>()<span class="keyword"> const                        </span>{ <span class="keywordflow">return</span> <a class="code" href="group__pointCloud.html#adaf6ec86192f57d18b757fad3581d20e">mMaxPoints</a> * <span class="keyword">sizeof</span>(<a class="code" href="structcudaPointCloud_1_1Vertex.html">Vertex</a>); }</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="group__pointCloud.html#ab938b42bd3cfcb66048c4aad84f850df">  129</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="structcudaPointCloud_1_1Vertex.html">Vertex</a>* <a class="code" href="group__pointCloud.html#ab938b42bd3cfcb66048c4aad84f850df">GetData</a>()<span class="keyword"> const                  </span>{ <span class="keywordflow">return</span> <a class="code" href="group__pointCloud.html#acf395273fc7881fbb04f26f100d766be">mPointsCPU</a>; }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="group__pointCloud.html#ae4e5f8b412284749471c10258e9d5095">  134</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="structcudaPointCloud_1_1Vertex.html">Vertex</a>* <a class="code" href="group__pointCloud.html#ae4e5f8b412284749471c10258e9d5095">GetData</a>( <span class="keywordtype">size_t</span> index )<span class="keyword"> const    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__pointCloud.html#acf395273fc7881fbb04f26f100d766be">mPointsCPU</a> + index; }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="group__pointCloud.html#a0b3b029a6589afe1fbdc20eb2b6d4788">  139</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="group__pointCloud.html#a0b3b029a6589afe1fbdc20eb2b6d4788">HasRGB</a>()<span class="keyword"> const                              </span>{ <span class="keywordflow">return</span> <a class="code" href="group__pointCloud.html#a2ad5b6d7387203c0f4e9e4576d75400c">mHasRGB</a>; }</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="group__pointCloud.html#af9de940249e215774fb83f7e3132c19f">Render</a>();</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="group__pointCloud.html#aafd186953251ba2228d574bb7227907f">Save</a>( <span class="keyword">const</span> <span class="keywordtype">char</span>* filename );</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="group__pointCloud.html#aa083a64e739dba0957b8078515300d2b">SetCalibration</a>( <span class="keyword">const</span> <span class="keywordtype">char</span>* filename );</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="group__pointCloud.html#aa083a64e739dba0957b8078515300d2b">SetCalibration</a>( <span class="keyword">const</span> <span class="keywordtype">float</span> K[3][3] );</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="group__pointCloud.html#aa083a64e739dba0957b8078515300d2b">SetCalibration</a>( <span class="keyword">const</span> float2&amp; focalLength, <span class="keyword">const</span> float2&amp; principalPoint );</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;<span class="keyword">protected</span>:</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        <a class="code" href="group__pointCloud.html#ad8a13457d27fe64edc7dfaaa408af9e4">cudaPointCloud</a>();</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="group__pointCloud.html#a1b6ba64ed345226be35e9dbe589ab8cc">allocBufferGL</a>();</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="group__pointCloud.html#a68e0e108c9e1f65bed3f098800c74f77">allocDepthResize</a>( <span class="keywordtype">size_t</span> size );</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        </div>
<div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="group__pointCloud.html#acf395273fc7881fbb04f26f100d766be">  172</a></span>&#160;        <a class="code" href="structcudaPointCloud_1_1Vertex.html">Vertex</a>* <a class="code" href="group__pointCloud.html#acf395273fc7881fbb04f26f100d766be">mPointsCPU</a>;</div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="group__pointCloud.html#a33764331514684798ba00fdace31b9ef">  173</a></span>&#160;        <a class="code" href="structcudaPointCloud_1_1Vertex.html">Vertex</a>* <a class="code" href="group__pointCloud.html#a33764331514684798ba00fdace31b9ef">mPointsGPU</a>;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="group__pointCloud.html#a7166afb56b7338bc1039410d33764529">  175</a></span>&#160;        <a class="code" href="group__OpenGL.html#classglBuffer">glBuffer</a>* <a class="code" href="group__pointCloud.html#a7166afb56b7338bc1039410d33764529">mBufferGL</a>;</div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="group__pointCloud.html#a0ff77a86b3b2cf676a108a7e919fdd2a">  176</a></span>&#160;        <a class="code" href="group__OpenGL.html#classglCamera">glCamera</a>* <a class="code" href="group__pointCloud.html#a0ff77a86b3b2cf676a108a7e919fdd2a">mCameraGL</a>;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="group__pointCloud.html#a47e4be38c0f1303d14a7a7a21ff10afd">  178</a></span>&#160;        uint32_t <a class="code" href="group__pointCloud.html#a47e4be38c0f1303d14a7a7a21ff10afd">mNumPoints</a>;</div>
<div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="group__pointCloud.html#adaf6ec86192f57d18b757fad3581d20e">  179</a></span>&#160;        uint32_t <a class="code" href="group__pointCloud.html#adaf6ec86192f57d18b757fad3581d20e">mMaxPoints</a>;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno"><a class="line" href="group__pointCloud.html#a313da46c6a6e74ef929f3a967b86a12c">  181</a></span>&#160;        float2 <a class="code" href="group__pointCloud.html#a313da46c6a6e74ef929f3a967b86a12c">mFocalLength</a>;</div>
<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="group__pointCloud.html#ac301f60a813bead315fa3b2f5bba8467">  182</a></span>&#160;        float2 <a class="code" href="group__pointCloud.html#ac301f60a813bead315fa3b2f5bba8467">mPrincipalPoint</a>;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
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<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="group__pointCloud.html#a0e3b4d10f67d2f25988e39ed0e0798ac">  185</a></span>&#160;        <span class="keywordtype">size_t</span> <a class="code" href="group__pointCloud.html#a0e3b4d10f67d2f25988e39ed0e0798ac">mDepthSize</a>;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="group__pointCloud.html#a2ad5b6d7387203c0f4e9e4576d75400c">  187</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="group__pointCloud.html#a2ad5b6d7387203c0f4e9e4576d75400c">mHasRGB</a>;</div>
<div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="group__pointCloud.html#aeceaf66cb037830355420527fee31498">  188</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="group__pointCloud.html#aeceaf66cb037830355420527fee31498">mHasNewPoints</a>;</div>
<div class="line"><a name="l00189"></a><span class="lineno"><a class="line" href="group__pointCloud.html#adda7b97e920e8dd67457b0ecaa6a0011">  189</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="group__pointCloud.html#adda7b97e920e8dd67457b0ecaa6a0011">mHasCalibration</a>;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;};</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
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<div class="ttc" id="agroup__pointCloud_html_aeceaf66cb037830355420527fee31498"><div class="ttname"><a href="group__pointCloud.html#aeceaf66cb037830355420527fee31498">cudaPointCloud::mHasNewPoints</a></div><div class="ttdeci">bool mHasNewPoints</div><div class="ttdef"><b>Definition:</b> cudaPointCloud.h:188</div></div>
<div class="ttc" id="astructcudaPointCloud_1_1Vertex_html"><div class="ttname"><a href="structcudaPointCloud_1_1Vertex.html">cudaPointCloud::Vertex</a></div><div class="ttdoc">Point vertex.</div><div class="ttdef"><b>Definition:</b> cudaPointCloud.h:45</div></div>
<div class="ttc" id="agroup__pointCloud_html_a4f6bad10283464e4d9994f6c5e981731"><div class="ttname"><a href="group__pointCloud.html#a4f6bad10283464e4d9994f6c5e981731">cudaPointCloud::GetMaxSize</a></div><div class="ttdeci">size_t GetMaxSize() const</div><div class="ttdoc">Retrieve the maximum size in bytes of the point cloud.</div><div class="ttdef"><b>Definition:</b> cudaPointCloud.h:124</div></div>
<div class="ttc" id="astructcudaPointCloud_1_1Vertex_html_a9e6e1a12c0d2947927183297f4138c81"><div class="ttname"><a href="structcudaPointCloud_1_1Vertex.html#a9e6e1a12c0d2947927183297f4138c81">cudaPointCloud::Vertex::color</a></div><div class="ttdeci">uchar3 color</div><div class="ttdoc">The RGB color of the point.</div><div class="ttdef"><b>Definition:</b> cudaPointCloud.h:56</div></div>
<div class="ttc" id="agroup__pointCloud_html_a33764331514684798ba00fdace31b9ef"><div class="ttname"><a href="group__pointCloud.html#a33764331514684798ba00fdace31b9ef">cudaPointCloud::mPointsGPU</a></div><div class="ttdeci">Vertex * mPointsGPU</div><div class="ttdef"><b>Definition:</b> cudaPointCloud.h:173</div></div>
<div class="ttc" id="agroup__pointCloud_html_abeefc53319ad08f9da52a9c5a7cb324a"><div class="ttname"><a href="group__pointCloud.html#abeefc53319ad08f9da52a9c5a7cb324a">cudaPointCloud::GetNumPoints</a></div><div class="ttdeci">uint32_t GetNumPoints() const</div><div class="ttdoc">Retrieve the number of points being used.</div><div class="ttdef"><b>Definition:</b> cudaPointCloud.h:109</div></div>
<div class="ttc" id="agroup__pointCloud_html_a47e4be38c0f1303d14a7a7a21ff10afd"><div class="ttname"><a href="group__pointCloud.html#a47e4be38c0f1303d14a7a7a21ff10afd">cudaPointCloud::mNumPoints</a></div><div class="ttdeci">uint32_t mNumPoints</div><div class="ttdef"><b>Definition:</b> cudaPointCloud.h:178</div></div>
<div class="ttc" id="acudaUtility_8h_html"><div class="ttname"><a href="cudaUtility_8h.html">cudaUtility.h</a></div></div>
<div class="ttc" id="agroup__pointCloud_html_adaf6ec86192f57d18b757fad3581d20e"><div class="ttname"><a href="group__pointCloud.html#adaf6ec86192f57d18b757fad3581d20e">cudaPointCloud::mMaxPoints</a></div><div class="ttdeci">uint32_t mMaxPoints</div><div class="ttdef"><b>Definition:</b> cudaPointCloud.h:179</div></div>
<div class="ttc" id="agroup__pointCloud_html_classcudaPointCloud"><div class="ttname"><a href="group__pointCloud.html#classcudaPointCloud">cudaPointCloud</a></div><div class="ttdoc">CUDA-accelerated point cloud processing.</div><div class="ttdef"><b>Definition:</b> cudaPointCloud.h:39</div></div>
<div class="ttc" id="agroup__pointCloud_html_a21bc4243e26313ce9db0007ddd217407"><div class="ttname"><a href="group__pointCloud.html#a21bc4243e26313ce9db0007ddd217407">cudaPointCloud::GetMaxPoints</a></div><div class="ttdeci">uint32_t GetMaxPoints() const</div><div class="ttdoc">Retrieve the max number of points in memory.</div><div class="ttdef"><b>Definition:</b> cudaPointCloud.h:114</div></div>
<div class="ttc" id="agroup__pointCloud_html_a68e0e108c9e1f65bed3f098800c74f77"><div class="ttname"><a href="group__pointCloud.html#a68e0e108c9e1f65bed3f098800c74f77">cudaPointCloud::allocDepthResize</a></div><div class="ttdeci">bool allocDepthResize(size_t size)</div></div>
<div class="ttc" id="astructcudaPointCloud_1_1Vertex_html_a58e8de6d6aba73bcd40d0f9fc193ff76"><div class="ttname"><a href="structcudaPointCloud_1_1Vertex.html#a58e8de6d6aba73bcd40d0f9fc193ff76">cudaPointCloud::Vertex::classID</a></div><div class="ttdeci">uint8_t classID</div><div class="ttdoc">The class ID of the point.</div><div class="ttdef"><b>Definition:</b> cudaPointCloud.h:62</div></div>
<div class="ttc" id="agroup__pointCloud_html_aa083a64e739dba0957b8078515300d2b"><div class="ttname"><a href="group__pointCloud.html#aa083a64e739dba0957b8078515300d2b">cudaPointCloud::SetCalibration</a></div><div class="ttdeci">bool SetCalibration(const char *filename)</div><div class="ttdoc">Set the intrinsic camera calibration.</div></div>
<div class="ttc" id="agroup__pointCloud_html_aafd186953251ba2228d574bb7227907f"><div class="ttname"><a href="group__pointCloud.html#aafd186953251ba2228d574bb7227907f">cudaPointCloud::Save</a></div><div class="ttdeci">bool Save(const char *filename)</div><div class="ttdoc">Save point cloud to PCD file.</div></div>
<div class="ttc" id="agroup__pointCloud_html_af3b4c2fd0b50bf12ad001fa39b5f4632"><div class="ttname"><a href="group__pointCloud.html#af3b4c2fd0b50bf12ad001fa39b5f4632">cudaPointCloud::Create</a></div><div class="ttdeci">static cudaPointCloud * Create()</div><div class="ttdoc">Create.</div></div>
<div class="ttc" id="agroup__pointCloud_html_af9de940249e215774fb83f7e3132c19f"><div class="ttname"><a href="group__pointCloud.html#af9de940249e215774fb83f7e3132c19f">cudaPointCloud::Render</a></div><div class="ttdeci">bool Render()</div><div class="ttdoc">Render the point cloud with OpenGL.</div></div>
<div class="ttc" id="agroup__pointCloud_html_acf395273fc7881fbb04f26f100d766be"><div class="ttname"><a href="group__pointCloud.html#acf395273fc7881fbb04f26f100d766be">cudaPointCloud::mPointsCPU</a></div><div class="ttdeci">Vertex * mPointsCPU</div><div class="ttdef"><b>Definition:</b> cudaPointCloud.h:172</div></div>
<div class="ttc" id="agroup__pointCloud_html_a779a39e8cacd830e10e33aa9d0d7a1a2"><div class="ttname"><a href="group__pointCloud.html#a779a39e8cacd830e10e33aa9d0d7a1a2">cudaPointCloud::Clear</a></div><div class="ttdeci">void Clear()</div><div class="ttdoc">Clear the points, but keep the memory allocated.</div></div>
<div class="ttc" id="agroup__pointCloud_html_a512877c3645cb6eb705c4785e7d66911"><div class="ttname"><a href="group__pointCloud.html#a512877c3645cb6eb705c4785e7d66911">cudaPointCloud::~cudaPointCloud</a></div><div class="ttdeci">~cudaPointCloud()</div><div class="ttdoc">Destructor.</div></div>
<div class="ttc" id="agroup__pointCloud_html_a6dbd64d695427ac9c83c8c5cec54a320"><div class="ttname"><a href="group__pointCloud.html#a6dbd64d695427ac9c83c8c5cec54a320">cudaPointCloud::mDepthResize</a></div><div class="ttdeci">float * mDepthResize</div><div class="ttdef"><b>Definition:</b> cudaPointCloud.h:184</div></div>
<div class="ttc" id="agroup__pointCloud_html_a2ad5b6d7387203c0f4e9e4576d75400c"><div class="ttname"><a href="group__pointCloud.html#a2ad5b6d7387203c0f4e9e4576d75400c">cudaPointCloud::mHasRGB</a></div><div class="ttdeci">bool mHasRGB</div><div class="ttdef"><b>Definition:</b> cudaPointCloud.h:187</div></div>
<div class="ttc" id="agroup__pointCloud_html_ab938b42bd3cfcb66048c4aad84f850df"><div class="ttname"><a href="group__pointCloud.html#ab938b42bd3cfcb66048c4aad84f850df">cudaPointCloud::GetData</a></div><div class="ttdeci">Vertex * GetData() const</div><div class="ttdoc">Retrieve memory pointer to point cloud data.</div><div class="ttdef"><b>Definition:</b> cudaPointCloud.h:129</div></div>
<div class="ttc" id="agroup__pointCloud_html_ae4e5f8b412284749471c10258e9d5095"><div class="ttname"><a href="group__pointCloud.html#ae4e5f8b412284749471c10258e9d5095">cudaPointCloud::GetData</a></div><div class="ttdeci">Vertex * GetData(size_t index) const</div><div class="ttdoc">Retrieve memory pointer to a specific point.</div><div class="ttdef"><b>Definition:</b> cudaPointCloud.h:134</div></div>
<div class="ttc" id="agroup__OpenGL_html_classglCamera"><div class="ttname"><a href="group__OpenGL.html#classglCamera">glCamera</a></div><div class="ttdoc">OpenGL perspective camera supporting Look-At, Yaw/Pitch/Roll, and Ortho modes.</div><div class="ttdef"><b>Definition:</b> glCamera.h:35</div></div>
<div class="ttc" id="agroup__pointCloud_html_af3e91a3b536a34b1b510136d04f9d782"><div class="ttname"><a href="group__pointCloud.html#af3e91a3b536a34b1b510136d04f9d782">cudaPointCloud::Free</a></div><div class="ttdeci">void Free()</div><div class="ttdoc">Free the memory being used to store the point cloud.</div></div>
<div class="ttc" id="agroup__pointCloud_html_ac301f60a813bead315fa3b2f5bba8467"><div class="ttname"><a href="group__pointCloud.html#ac301f60a813bead315fa3b2f5bba8467">cudaPointCloud::mPrincipalPoint</a></div><div class="ttdeci">float2 mPrincipalPoint</div><div class="ttdef"><b>Definition:</b> cudaPointCloud.h:182</div></div>
<div class="ttc" id="agroup__pointCloud_html_ad8a13457d27fe64edc7dfaaa408af9e4"><div class="ttname"><a href="group__pointCloud.html#ad8a13457d27fe64edc7dfaaa408af9e4">cudaPointCloud::cudaPointCloud</a></div><div class="ttdeci">cudaPointCloud()</div></div>
<div class="ttc" id="agroup__pointCloud_html_a313da46c6a6e74ef929f3a967b86a12c"><div class="ttname"><a href="group__pointCloud.html#a313da46c6a6e74ef929f3a967b86a12c">cudaPointCloud::mFocalLength</a></div><div class="ttdeci">float2 mFocalLength</div><div class="ttdef"><b>Definition:</b> cudaPointCloud.h:181</div></div>
<div class="ttc" id="agroup__pointCloud_html_a0ff77a86b3b2cf676a108a7e919fdd2a"><div class="ttname"><a href="group__pointCloud.html#a0ff77a86b3b2cf676a108a7e919fdd2a">cudaPointCloud::mCameraGL</a></div><div class="ttdeci">glCamera * mCameraGL</div><div class="ttdef"><b>Definition:</b> cudaPointCloud.h:176</div></div>
<div class="ttc" id="agroup__pointCloud_html_a7166afb56b7338bc1039410d33764529"><div class="ttname"><a href="group__pointCloud.html#a7166afb56b7338bc1039410d33764529">cudaPointCloud::mBufferGL</a></div><div class="ttdeci">glBuffer * mBufferGL</div><div class="ttdef"><b>Definition:</b> cudaPointCloud.h:175</div></div>
<div class="ttc" id="agroup__OpenGL_html_classglBuffer"><div class="ttname"><a href="group__OpenGL.html#classglBuffer">glBuffer</a></div><div class="ttdoc">OpenGL buffer with CUDA interoperability.</div><div class="ttdef"><b>Definition:</b> glBuffer.h:114</div></div>
<div class="ttc" id="astructcudaPointCloud_1_1Vertex_html_aeefd8bd73d94b0b27dd071306ba367de"><div class="ttname"><a href="structcudaPointCloud_1_1Vertex.html#aeefd8bd73d94b0b27dd071306ba367de">cudaPointCloud::Vertex::pos</a></div><div class="ttdeci">float3 pos</div><div class="ttdoc">The XYZ position of the point.</div><div class="ttdef"><b>Definition:</b> cudaPointCloud.h:50</div></div>
<div class="ttc" id="agroup__pointCloud_html_a0e3b4d10f67d2f25988e39ed0e0798ac"><div class="ttname"><a href="group__pointCloud.html#a0e3b4d10f67d2f25988e39ed0e0798ac">cudaPointCloud::mDepthSize</a></div><div class="ttdeci">size_t mDepthSize</div><div class="ttdef"><b>Definition:</b> cudaPointCloud.h:185</div></div>
<div class="ttc" id="agroup__pointCloud_html_ab718e09e5eb03fd1d5432e42c689b814"><div class="ttname"><a href="group__pointCloud.html#ab718e09e5eb03fd1d5432e42c689b814">cudaPointCloud::__attribute__</a></div><div class="ttdeci">struct cudaPointCloud::Vertex __attribute__((packed))</div></div>
<div class="ttc" id="agroup__pointCloud_html_a9f5e49c1601898cd67749b1a46d9594b"><div class="ttname"><a href="group__pointCloud.html#a9f5e49c1601898cd67749b1a46d9594b">cudaPointCloud::Reserve</a></div><div class="ttdeci">bool Reserve(uint32_t maxPoints)</div><div class="ttdoc">Allocate and reserve memory for the max number of points.</div></div>
<div class="ttc" id="agroup__pointCloud_html_a1b6ba64ed345226be35e9dbe589ab8cc"><div class="ttname"><a href="group__pointCloud.html#a1b6ba64ed345226be35e9dbe589ab8cc">cudaPointCloud::allocBufferGL</a></div><div class="ttdeci">bool allocBufferGL()</div></div>
<div class="ttc" id="agroup__pointCloud_html_a0b3b029a6589afe1fbdc20eb2b6d4788"><div class="ttname"><a href="group__pointCloud.html#a0b3b029a6589afe1fbdc20eb2b6d4788">cudaPointCloud::HasRGB</a></div><div class="ttdeci">bool HasRGB() const</div><div class="ttdoc">Does the point cloud have RGB data?</div><div class="ttdef"><b>Definition:</b> cudaPointCloud.h:139</div></div>
<div class="ttc" id="agroup__pointCloud_html_a66eea4468c09e816ee78b378382ab8fd"><div class="ttname"><a href="group__pointCloud.html#a66eea4468c09e816ee78b378382ab8fd">cudaPointCloud::Extract</a></div><div class="ttdeci">bool Extract(float *depth, float4 *rgba, uint32_t width, uint32_t height)</div><div class="ttdoc">Extract point cloud from depth map and optional RGBA image.</div></div>
<div class="ttc" id="agroup__pointCloud_html_af10d3cc8025aeb86f4334f4e9008a5ae"><div class="ttname"><a href="group__pointCloud.html#af10d3cc8025aeb86f4334f4e9008a5ae">cudaPointCloud::GetSize</a></div><div class="ttdeci">size_t GetSize() const</div><div class="ttdoc">Retrieve the size in bytes currently being used.</div><div class="ttdef"><b>Definition:</b> cudaPointCloud.h:119</div></div>
<div class="ttc" id="agroup__pointCloud_html_adda7b97e920e8dd67457b0ecaa6a0011"><div class="ttname"><a href="group__pointCloud.html#adda7b97e920e8dd67457b0ecaa6a0011">cudaPointCloud::mHasCalibration</a></div><div class="ttdeci">bool mHasCalibration</div><div class="ttdef"><b>Definition:</b> cudaPointCloud.h:189</div></div>
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